- extended evcontroller

- remote objects
- new ev drivers for oxford IPS,ITC,ILM and LC
M.Z.


SKIPPED:
	psi/eve.c
	psi/eve.h
	psi/fsm.c
	psi/fsm.h
	psi/ilmdriv.c
	psi/ipsdriv.c
	psi/itcdriv.c
	psi/lcdriv.c
	psi/logger.c
	psi/logger.h
	psi/make_gen
	psi/oicom.c
	psi/oicom.h
	psi/psi.c
	psi/remob.c
	psi/remob.h
	psi/tecs/didi
	psi/tecs/make_crv.tcsh
	psi/tecs/make_gen
	psi/tecs/myc_buf.c
	psi/tecs/six.c
	psi/tecs/tecs.c
	psi/tecs/tecs_client.f
	psi/tecs/tecs_plot.f
	psi/tecs/term.c
	psi/tecs/pg_plus/xwdriv.c

devexec.c

@@ -105,6 +105,7 @@
                    long lTask;
                    pTaskMan pTask;
                    int iLock;
+                   pICallBack pCall;
                   } ExeList;
                   
   static pExeList pExecutor = NULL;                
@@ -139,6 +140,7 @@
     pRes->pTask = pTask;
     pRes->lTask = -1;
     pRes->iLock = 0;
+    pRes->pCall = CreateCallBackInterface();
     return pRes;
   }   
 /*-------------------------------------------------------------------------*/
@@ -153,9 +155,21 @@
       DeleteDescriptor(self->pDes);
     ClearExecutor(self);
     LLDdelete(self->iList);
+    if(self->pCall)
+      DeleteCallBackInterface(self->pCall);
 
     free(self);
   }
+/*--------------------------------------------------------------------------*/
+  void ExeInterest(pExeList self, pDevEntry pDev, char *text) {
+    char buf[128];
+
+    if(pDev)
+    {
+      snprintf(buf, sizeof(buf),"%s %s",pDev->name,text);
+      InvokeCallBack(self->pCall, DRIVSTAT, buf);
+    }
+  }
 /*------------------------------------------------------------------------*/
   int StartDevice(pExeList self, char *name, pObjectDescriptor pDes,
                   void *pData, SConnection *pCon, float fNew)
@@ -220,6 +234,7 @@
      if(iRet == OKOK)
      {
        LLDnodeAppendFrom(self->iList,&pNew);
+       ExeInterest(self, pNew, "started");
        self->iRun = 1;
        self->iStatus = DEVDONE;
        /* if no task: start it */
@@ -388,6 +403,7 @@
 			{
                            pDrivInt->iErrorCount = 0;
                         }
+                        ExeInterest(self, pDev, "finished");
                         DeleteDevEntry(pDev);
                         LLDnodeDelete(self->iList);
                         iRet = LLDnodePtr2Prev(self->iList);
@@ -399,6 +415,7 @@
                         self->iStatus = DEVDONE;
                         break;
            case HWFault: /* real HW error: burning, no net etc.. */
+                        ExeInterest(self, pDev, "finished with problem");
                         DeleteDevEntry(pDev);
                         LLDnodeDelete(self->iList);
                         self->iStatus = DEVERROR;
@@ -446,6 +463,7 @@
                         self->iStatus = DEVBUSY;
                         break;
            case HWPosFault: /* cannot get somewhere... */
+                        ExeInterest(self, pDev, "finished with problem");
                         DeleteDevEntry(pDev);
                         LLDnodeDelete(self->iList);
                         self->iStatus = DEVERROR;
@@ -561,23 +579,23 @@
         return 1;
      }
 
-     /* 
-      check for stop flag. This is to stop unnecessary calls to StopExe.
-      There may be way to many, but each call is reasonable under certain
-      circumstances.
-     */
-     if(self->iStop == 1)
-     {
-         return 0;
-     }
-     else
-     {
-        self->iStop = 1;
-     }
-           
      /* first the ALL case */
      if(strcmp(name,"all") == 0)
      {
+        /* 
+         check for stop flag. This is to stop unnecessary calls to StopExe.
+         There may be way to many, but each call is reasonable under certain
+         circumstances.
+        */
+        if(self->iStop == 1)
+        {
+            return 0;
+        }
+        else
+        {
+           self->iStop = 1;
+        }
+           
         iRet = LLDnodePtr2First(self->iList);
         while(iRet != 0)
         {
@@ -796,12 +814,48 @@
           SCWrite(pCon,pBueffel,eError);
        }
        return iRet;
-    }
+     }
+/*------------------- The CallBack function for interest ------------------*/
+  static int DrivStatCallback(int iEvent, void *text, void *pCon)
+  {
+     assert(pCon);
+     assert(text);
+  
+     SCWrite(pCon, text, eValue);
+     return 1;
+  }  
 /*--------------------------------------------------------------------------*/                
    int ListExe(SConnection *pCon, SicsInterp *pSics, void *pData,
                                 int argc, char *argv[])
    {
-       return ListPending((pExeList)pData,pCon);
+       pExeList self = NULL;
+       int list;
+       
+       if (argc == 1) {
+         return ListPending((pExeList)pData,pCon);
+       }
+       argtolower(argc,argv);
+       self = (pExeList)pData;
+       assert(self);
+       if (argc == 2) {
+         if (strcmp(argv[1], "interest") == 0)
+         {
+           list = RegisterCallback(self->pCall, DRIVSTAT, DrivStatCallback,
+                                 pCon, NULL);
+           SCRegister(pCon, pSics, self->pCall,list);
+           SCSendOK(pCon);
+           return 1;
+         }
+         if (strcmp(argv[1], "uninterest") == 0)
+         {
+           RemoveCallback2(self->pCall, pCon);
+           SCUnregister(pCon, self->pCall);
+           SCSendOK(pCon);
+           return 1;
+         }
+       }
+       SCWrite(pCon, "ERROR: illegal arguments for ListExe", eError);
+       return 0;
    }
 /*--------------------------------------------------------------------------
     Usage: 
@@ -927,12 +981,17 @@
 	       iInterrupt = SCGetInterrupt(self->pOwner);
                if(iInterrupt != eContinue)
                {
-		 SCWrite(self->pOwner,pBueffel, eError);
 		 if(iInterrupt > 1)
 		 {
+                   /* M.Z: it seems that this warning is redundant
+                      a) because it was erroenous
+                      b) it would be emitted for every driveable obj to be stopped
+                      
 		   Interrupt2Text(iInterrupt,pInterrupt,79);
 		   snprintf(pBueffel,131,"ERROR: interrupt %s triggered",
 			  pInterrupt);
+ 		   SCWrite(self->pOwner,pBueffel, eError);
+ 		   */
                    StopExe(self,"all");
                  }
 #ifdef DEBUG

evcontroller.c

@@ -83,7 +83,8 @@
       self->start = time(NULL);
       self->lastt = 0;
       self->iWarned = 0;
-
+      SCSave(&self->conn, pCon);
+      
       /* try at least three times to do it */
       for(i = 0; i < 3; i++)
       {
@@ -178,9 +179,10 @@
       float fPos, fDelta;
       int iRet, iCode, iFix;
       char pBueffel[256], pError[132];
-      static int callCount, iCount=0;
+      static int callCount;
       time_t now, tmo;
-    
+      float tol;
+
       self = (pEVControl)pData;
       assert(self);
       assert(pCon);
@@ -254,13 +256,12 @@
         self->eMode = EVMonitor;
         return HWIdle;
       }
-      if(fDelta <= ObVal(self->pParam, TOLERANCE)) /* done */
+      tol = ObVal(self->pParam, TOLERANCE);
+      if (self->lastt > 0) { /* increase tol for hysteresis */
+        tol=tol*1.1001;
+      }
+      if(fDelta <= tol) /* inside tolerance */
       {
-	if (iCount < 3)
-	{  
-	  iCount++;
-          return HWBusy;
-	}
         tmo = (int)(ObVal(self->pParam, SETTLE));
 	if (self->lastt <= 0) /* lastt negative: -seconds already waited */
 	{
@@ -282,10 +283,6 @@
       }
       else
       {
-	if (iCount > 0) {
-	  iCount--;
-	  return HWBusy;
-	}
 	if (self->lastt > 0) { /* save time already waited */
           sprintf(pBueffel,"%s outside tolerance, settling time suspended",
             self->pName);
@@ -341,7 +338,7 @@
   }  
 
 /*---------------------------- Error Handlers --------------------------------*/
-static void ErrWrite(char *txt)
+static void ErrWrite(char *txt, SCStore *conn)
 {
       pExeList   pExe;
       SConnection *pCon = NULL;
@@ -349,6 +346,10 @@ static void ErrWrite(char *txt)
       pExe = GetExecutor();
       pCon = GetExeOwner(pExe);
 
+      if (!pCon)
+      {
+        pCon = SCLoad(conn);
+      }
       if(pCon)
       {
 	SCWrite(pCon,txt,eWarning);
@@ -369,7 +370,7 @@ static void ErrReport(pEVControl self)
       {
 	sprintf(pBueffel,"WARNING: %s is out of range by %g",
 		self->pName,fDelta);
-	ErrWrite(pBueffel);
+	ErrWrite(pBueffel, &self->conn);
 	self->iWarned = 1;  
       }
  }
@@ -442,7 +443,7 @@ static void ErrReport(pEVControl self)
 	  snprintf(pBueffel,255,
 		   "ERROR: %s while processing errorscript for %s",
 		   pTcl->result,self->pName);
-	  ErrWrite(pBueffel);
+	  ErrWrite(pBueffel, &self->conn);
         }
 	/*
 	  assume that everything is fine again after the script
@@ -456,7 +457,7 @@ static void ErrReport(pEVControl self)
 	snprintf(pBueffel,255,
        "ERROR: script error handling requested for %s, but no script given",
 		 self->pName);
-	ErrWrite(pBueffel);
+	ErrWrite(pBueffel, &self->conn);
       }
       
       return 1;
@@ -486,7 +487,7 @@ static void ErrReport(pEVControl self)
 
       ErrReport(self);
       
-      ErrWrite("Running to safe value");
+      ErrWrite("Running to safe value", &self->conn);
       self->pDriv->SetValue(self->pDriv, ObVal(self->pParam,SAFEVALUE));
       self->eMode = EVIdle;
       self->iWarned = 0;
@@ -552,7 +553,8 @@ static void ErrReport(pEVControl self)
       char pError[10], pBueffel[512];
       pExeList pExe = NULL;
       SConnection *pCon = NULL;
-      
+      float tol;
+
       self = (pEVControl)pData;
       assert(self);
       
@@ -568,23 +570,16 @@ static void ErrReport(pEVControl self)
          {
            fDelta = -fDelta;
          }
-         if(fDelta < ObVal(self->pParam,TOLERANCE))
+         tol =  ObVal(self->pParam,TOLERANCE);
+         if (self->iWarned == 0) tol=tol*1.1001;
+         if(fDelta <= tol)
          {
            self->eMode = EVMonitor;
            if(self->iWarned)
            {
-             pExe = GetExecutor();
-             pCon = GetExeOwner(pExe);
              sprintf(pBueffel,"Environment device %s back in tolerances again",
                        self->pName);
-             if(pCon)
+             ErrWrite(pBueffel, &self->conn);
-             {
-                SCWrite(pCon,pBueffel,eWarning);
-             }          
-             else
-             {
-                ServerWriteGlobal(pBueffel,eWarning);
-             }
              self->iWarned = 0;
            }
            return 1;
@@ -684,6 +679,7 @@ static void ErrReport(pEVControl self)
      return NULL;
    }
    pRes->pDes->GetInterface = EVIInterface;
+   pRes->pDes->SaveStatus = EVSaveStatus;
    
    /* new Drivable interface */
    pRes->pDrivInt = CreateDrivableInterface();
@@ -738,7 +734,7 @@ static void ErrReport(pEVControl self)
    ObParInit(pRes->pParam, ERRORHANDLER, "errorhandler", 0.0, usUser);
    ObParInit(pRes->pParam, INTERRUPT, "interrupt", eContinue, usUser);
    ObParInit(pRes->pParam, UPLIMIT, "upperlimit", 300.0, usUser);
-   ObParInit(pRes->pParam, LOWLIMIT, "lowerlimit", 2., usUser);
+   ObParInit(pRes->pParam, LOWLIMIT, "lowerlimit", 1.0, usUser);
    ObParInit(pRes->pParam, SAFEVALUE, "safevalue", 0., usUser);
    ObParInit(pRes->pParam, MAXWAIT, "maxwait", 0., usUser);
    ObParInit(pRes->pParam, SETTLE, "settle", 0., usUser);
@@ -749,11 +745,9 @@ static void ErrReport(pEVControl self)
      pDriv->GetValues=StdGetValues;
    }
    iRet = pDriv->Init(pDriv);
-   if(iRet >= 0)
+
-   {
+   *iErr = iRet;
-     *iErr = iRet;
+
-   }
-   
    /* new var log for logging values */
    pRes->iLog = 1;
    if(!VarlogInit(&pRes->pLog))
@@ -765,7 +759,7 @@ static void ErrReport(pEVControl self)
    pRes->pName = strdup(pName);
    pRes->eMode = EVIdle;
    pRes->iWarned = 0;
-
+   
    /* a terminal error gives a -1 in iRet */
    if(iRet < 0)
    {
@@ -828,6 +822,10 @@ static void ErrReport(pEVControl self)
       {
 	free(self->errorScript);
       }
+      if (self->creationArgs != NULL)
+      {
+        free(self->creationArgs);
+      }
       free(self);
   } 
 /*--------------------------------------------------------------------------*/
@@ -1217,9 +1215,52 @@ static void ErrReport(pEVControl self)
       return 0; /* not reached */
    }                            
 /*-----------------------------------------------------------------------*/
+int EVSaveStatus(void *pData, char *name, FILE *fil)
+{
+  pEVControl evc = pData;
+  if (evc->creationArgs) {
+    fprintf(fil, "evfactory replace %s %s\n", name, evc->creationArgs);
+  }
+  return 1;
+}
+/*-----------------------------------------------------------------------*/
+pEVControl MakeEVController(pEVDriver pDriv, SConnection *pCon,
+                            ObjectFunc wrapper, int argc, char *argv[])
+{
+  pEVControl pNew;
+  int status = 1;
+  char pBueffel[512];
+  char pError[132];
+  
+  if (pDriv == NULL) {
+    SCWrite(pCon,"ERROR: failed to create driver",eError);
+    return NULL;
+  }
+  pNew = CreateEVController(pDriv,argv[0],&status);
+  if (status != 1) {
+    SCWrite(pCon,"ERROR: failed to initialize device", eError);
+    pDriv->GetError(pDriv,&status,pError,sizeof pError -1);
+    sprintf(pBueffel,"HW reported: %s",pError);
+    SCWrite(pCon,pBueffel,eError);
+  }
+  if (pNew == NULL) {
+    SCWrite(pCon,"ERROR: failed to create environment device object",
+            eError);
+    DeleteEVDriver(pDriv);
+    return NULL;
+  }
+  if (wrapper == NULL) {
+    AddCommand(pServ->pSics,argv[0],EVControlWrapper,DeleteEVController,pNew);
+  } else {
+    AddCommand(pServ->pSics,argv[0],wrapper,DeleteEVController,pNew);
+  }
+  return pNew;
+}
+/*-----------------------------------------------------------------------*/
 static pEVControl InstallCommonControllers(SicsInterp *pSics, 
 					   SConnection *pCon,
-					   int argc, char *argv[])
+					   int argc, char *argv[],
+					   int *found)
 {
   pEVControl pNew = NULL;
   pEVDriver  pDriv = NULL;
@@ -1228,6 +1269,7 @@ static pEVControl InstallCommonControllers(SicsInterp *pSics,
   int (*Wrapper)(SConnection *pCon, SicsInterp *pSics, void *pData,
 		 int argc, char *argv[]) = EVControlWrapper;
 
+  *found=1;
   if(strcmp(argv[3],"sim") ==  0) /* SIM driver */
   {
     /* Create a Sim Driver */
@@ -1287,7 +1329,9 @@ static pEVControl InstallCommonControllers(SicsInterp *pSics,
       return NULL;
     }
   } else {
-    return NULL; /* not recognized */
+    /* not recognized */
+    *found=0;
+    return NULL;
   }
 
 
@@ -1338,7 +1382,7 @@ static pEVControl InstallCommonControllers(SicsInterp *pSics,
    {
       pEVControl pNew = NULL;
       char pBueffel[512],pError[132];
-      int iRet;
+      int iRet, found;
       CommandList *pCom = NULL;
       pSite site = NULL;
       
@@ -1382,7 +1426,7 @@ static pEVControl InstallCommonControllers(SicsInterp *pSics,
          SCSendOK(pCon);
          return 1;
       }
-      else if(strcmp(argv[1],"new") == 0) /*make a new one */
+      else if(strcmp(argv[1],"new") == 0 || strcmp(argv[1], "replace") == 0) /* make a new one */
       {
         /* argv[2] = name */
         /* argv[3] must be type */
@@ -1394,31 +1438,42 @@ static pEVControl InstallCommonControllers(SicsInterp *pSics,
         }
         strtolower(argv[2]);
         strtolower(argv[3]);
+        if (FindCommandData(pSics, argv[2], "Environment Controller")) {
+          if (strcmp(argv[1], "replace") == 0) {
+            RemoveCommand(pSics, argv[2]);
+          } else {
+            sprintf(pBueffel,
+            "ERROR: environment device %s already installed, delete first",
+                    argv[2]);
+            SCWrite(pCon,pBueffel,eError);
+            return 0;        
+          }
+        }
         pCom = FindCommand(pSics,argv[2]);
         if(pCom)
         {
-          sprintf(pBueffel,
+          sprintf(pBueffel, "ERROR: command %s already exists", argv[2]);
-          "ERROR: environment device %s already installed, delete first",
-                  argv[2]);
           SCWrite(pCon,pBueffel,eError);
           return 0;        
         }
-	pNew = InstallCommonControllers(pSics,pCon,argc,argv);
+	pNew = InstallCommonControllers(pSics,pCon,argc,argv,&found);
-        if(pNew == NULL)
+        if (!found) {
-        {
           site = getSite();
 	  if(site != NULL){
 	    pNew = site->InstallEnvironmentController(pSics,pCon,argc,argv);
 	  } else {
+            sprintf(pBueffel,"ERROR: %s not recognized as a valid driver type", argv[3]);
+            SCWrite(pCon,pBueffel,eError);
 	    pNew = NULL;
 	  }
-	  if(pNew == NULL){
-	    sprintf(pBueffel,"ERROR: %s not recognized as a valid driver type",
-		    argv[3]);
-	    SCWrite(pCon,pBueffel,eError);
-	    return 0;
-	  }        
         }
+	if(pNew == NULL){
+          /* error message is already written */
+	  return 0;
+	}        
+        Arg2Text(argc-2, argv+2, pBueffel, sizeof pBueffel);
+        pNew->creationArgs = strdup(pBueffel);
+        
         EVRegisterController(FindEMON(pSics),argv[2],pNew, pCon); 
 	pNew->driverName = strdup(argv[3]);
         SCSendOK(pCon);           

evcontroller.h

@@ -1,5 +1,5 @@
 
-#line 222 "evcontroller.w"
+#line 226 "evcontroller.w"
 
 /*--------------------------------------------------------------------------
              E N V I R O N M E N T   C O N T R O L L E R
@@ -14,7 +14,7 @@
 #define SICSEVCONTROL
 #include "varlog.h"
 
-#line 144 "evcontroller.w"
+#line 146 "evcontroller.w"
 
 /*--------------------------- live & death --------------------------------*/   
   typedef struct __EVControl *pEVControl;
@@ -22,7 +22,9 @@
 
   pEVControl CreateEVController(pEVDriver pDriv, char *pName, int *iErr);
   void       DeleteEVController(void *pData);
-
+  pEVControl MakeEVController(pEVDriver pDriv, SConnection *pCon,
+                              ObjectFunc wrapper, int argc, char *argv[]);
+  int EVSaveStatus(void *pData, char *name, FILE *fil);
 /*-------------------------- driving  ---------------------------------*/
   int EVCDrive(pEVControl self,SConnection *pCon, float fNew);
   int EVCGetPos(pEVControl self, SConnection *pCon,float *fVal);
@@ -44,6 +46,6 @@
   
 
 
-#line 235 "evcontroller.w"
+#line 239 "evcontroller.w"
 
 #endif

evcontroller.i

@@ -1,5 +1,5 @@
 
-#line 239 "evcontroller.w"
+#line 243 "evcontroller.w"
 
 /*-------------------------------------------------------------------------
     Environment controller datastructure
@@ -41,9 +41,11 @@
                                int                iWarned;
                                int                iTcl;
                                int                iStop;
+                               SCStore conn;
+                               char *creationArgs;
                                void *pPrivate;
                                void (*KillPrivate)(void *pData);
                                } EVControl;
 
-#line 257 "evcontroller.w"
+#line 261 "evcontroller.w"
 

evcontroller.tex

@@ -52,6 +52,8 @@ $\langle$evdata {\footnotesize ?}$\rangle\equiv$
 \mbox{}\verb@                               int                iWarned;@\\
 \mbox{}\verb@                               int                iTcl;@\\
 \mbox{}\verb@                               int                iStop;@\\
+\mbox{}\verb@                               SCStore conn;@\\
+\mbox{}\verb@                               char *creationArgs;@\\
 \mbox{}\verb@                               void *pPrivate;@\\
 \mbox{}\verb@                               void (*KillPrivate)(void *pData);@\\
 \mbox{}\verb@                               } EVControl;@\\
@@ -161,7 +163,7 @@ a drivers specific datastructure properly.
 \end{description}
 
 \subsubsection{Environment Controller Funtions}
-All of the functions below return 1 on success, 0 on failure if not sated
+All of the functions below return 1 on success, 0 on failure if not stated
 otherwise. Most functions take a pointer to an environment controller
 data structure as first parameter. 
 
@@ -177,7 +179,9 @@ $\langle$dvfunc {\footnotesize ?}$\rangle\equiv$
 \mbox{}\verb@@\\
 \mbox{}\verb@  pEVControl CreateEVController(pEVDriver pDriv, char *pName, int *iErr);@\\
 \mbox{}\verb@  void       DeleteEVController(void *pData);@\\
-\mbox{}\verb@@\\
+\mbox{}\verb@  pEVControl MakeEVController(pEVDriver pDriv, SConnection *pCon,@\\
+\mbox{}\verb@                              ObjectFunc wrapper, int argc, char *argv[]);@\\
+\mbox{}\verb@  int EVSaveStatus(void *pData, char *name, FILE *fil);@\\
 \mbox{}\verb@/*-------------------------- driving  ---------------------------------*/@\\
 \mbox{}\verb@  int EVCDrive(pEVControl self,SConnection *pCon, float fNew);@\\
 \mbox{}\verb@  int EVCGetPos(pEVControl self, SConnection *pCon,float *fVal);@\\

evcontroller.w

@@ -47,6 +47,8 @@ used by EVControl:
                                int                iWarned;
                                int                iTcl;
                                int                iStop;
+                               SCStore conn;
+                               char *creationArgs;
                                void *pPrivate;
                                void (*KillPrivate)(void *pData);
                                } EVControl;
@@ -137,7 +139,7 @@ a drivers specific datastructure properly.
 \end{description}
 
 \subsubsection{Environment Controller Funtions}
-All of the functions below return 1 on success, 0 on failure if not sated
+All of the functions below return 1 on success, 0 on failure if not stated
 otherwise. Most functions take a pointer to an environment controller
 data structure as first parameter. 
 
@@ -148,7 +150,9 @@ data structure as first parameter.
 
   pEVControl CreateEVController(pEVDriver pDriv, char *pName, int *iErr);
   void       DeleteEVController(void *pData);
-
+  pEVControl MakeEVController(pEVDriver pDriv, SConnection *pCon,
+                              ObjectFunc wrapper, int argc, char *argv[]);
+  int EVSaveStatus(void *pData, char *name, FILE *fil);
 /*-------------------------- driving  ---------------------------------*/
   int EVCDrive(pEVControl self,SConnection *pCon, float fNew);
   int EVCGetPos(pEVControl self, SConnection *pCon,float *fVal);

evdriver.c

@@ -55,7 +55,7 @@
        return NULL;
      }
      memset(pNew,0,sizeof(EVDriver));
-     pNew->GetValues=NULL; /* method will be replaced by default when NULL */
+     pNew->GetValues = NULL; /* method will be replaced by default when NULL */
      return pNew;
   }	
 /*-------------------------------------------------------------------------*/

evdriver.i

@@ -1,5 +1,5 @@
 
-#line 260 "evcontroller.w"
+#line 264 "evcontroller.w"
 
 /*-------------------------------------------------------------------------
     Environment device driver datastructure
@@ -12,7 +12,7 @@
 #define DEVREDO 2
 
 
-#line 85 "evcontroller.w"
+#line 87 "evcontroller.w"
 
    typedef struct __EVDriver {
                              int (*SetValue)(pEVDriver self, float fNew);
@@ -30,7 +30,7 @@
                              void (*KillPrivate)(void *pData);
                             } EVDriver;
 
-#line 271 "evcontroller.w"
+#line 275 "evcontroller.w"
 
 /*-------------------- life & death of  a driver  --------------------------*/
      pEVDriver CreateEVDriver(int argc, char *argv[]);

event.c

@@ -63,6 +63,7 @@
                            "BATCHSTART",
 			   "BATCHAREA",
 			   "BATCHEND",
+			   "DRIVSTAT",
                            NULL
                          };     
     

event.h

@@ -1,5 +1,5 @@
 
-#line 85 "event.w"
+#line 88 "event.w"
 
 /*----------------------------------------------------------------------------
                         E V E N T
@@ -18,7 +18,7 @@
 
    int Text2Event(char *pText);
 
-#line 98 "event.w"
+#line 101 "event.w"
 
 
 
@@ -41,19 +41,20 @@
 #define BATCHSTART 14
 #define BATCHAREA  15
 #define BATCHEND   16
+#define DRIVSTAT   17
 
-#line 100 "event.w"
+#line 103 "event.w"
 
 
 /*--------------- Signals for the Signalfunction of each task ------------*/
 
-#line 70 "event.w"
+#line 73 "event.w"
 
 #define SICSINT 300
 #define SICSBROADCAST 301
 #define TOKENGRAB     302
 #define TOKENRELEASE  303
 
-#line 103 "event.w"
+#line 106 "event.w"
  
 #endif

event.tex

@@ -52,6 +52,7 @@ $\langle$VE {\footnotesize ?}$\rangle\equiv$
 \mbox{}\verb@#define BATCHSTART 14@\\
 \mbox{}\verb@#define BATCHAREA  15@\\
 \mbox{}\verb@#define BATCHEND   16@\\
+\mbox{}\verb@#define DRIVSTAT   17@\\
 \mbox{}\verb@@$\diamond$
 \end{list}
 \vspace{-1ex}
@@ -80,10 +81,12 @@ fiffractometer has been measured.
 \item[COUNTSTART] is an event which signals the start of a counting
 operation.
 \item[COUNTEND] is an event signalling the end of a counting operation.
-\item[MOTEND] signals the end of a driving operation.
+\item[MOTEND] signals the end of a motor driving operation.
 \item[BATCHSTART] signals starting batch processing a new buffer
 \item[BATCHAREA] signals that a new area of the batch file is processing.
 \item[BATCHEND] signals the end of the batch buffers processing.
+\item[DRIVSTAT] signals a change in the status of a driving operation
+(start, finished, fault)
 \end{description}
 
 Furthermore event contains system wide signal codes which are interpreted in 

event.w

@@ -35,6 +35,7 @@ if the event code is not known, else the apropriate event code.
 #define BATCHSTART 14
 #define BATCHAREA  15
 #define BATCHEND   16
+#define DRIVSTAT   17
 @}
 \begin{description}
 \item[VALUECHANGE] This is a variable changing its value. As event data a pointer to the
@@ -55,10 +56,12 @@ fiffractometer has been measured.
 \item[COUNTSTART] is an event which signals the start of a counting
 operation.
 \item[COUNTEND] is an event signalling the end of a counting operation.
-\item[MOTEND] signals the end of a driving operation.
+\item[MOTEND] signals the end of a motor driving operation.
 \item[BATCHSTART] signals starting batch processing a new buffer
 \item[BATCHAREA] signals that a new area of the batch file is processing.
 \item[BATCHEND] signals the end of the batch buffers processing.
+\item[DRIVSTAT] signals a change in the status of a driving operation
+(start, finished, fault)
 \end{description}
 
 Furthermore event contains system wide signal codes which are interpreted in 

modriv.h

@@ -64,8 +64,9 @@
                            /* Simulation  specific fields */
                            float fFailure; /* percent random failures*/
                            float fSpeed;
-                           long iTime;
+                           time_t iTime;
                            float fPos;     /* position */
+                           float fTarget; /* target position */
                           } SIMDriv;
 
     

motor.c

@@ -76,6 +76,7 @@
 #define ECOUNT  11
 #define POSCOUNT 12
 #define IGNOREFAULT 13
+
 /*------------------------------------------------------------------------
    a tiny structure used in CallBack work
 */
@@ -119,6 +120,7 @@
     if(self->pDrivInt->iErrorCount < 0)
       self->pDrivInt->iErrorCount = 0;
 
+    self->stopped = 1;
     return self->pDriver->Halt((void *)self->pDriver);
   }
   
@@ -208,7 +210,7 @@ static int statusRunTo(pMotor self, SConnection *pCon)
   if(self->retryCount >= ObVal(self->ParArray,POSCOUNT))
   {
     snprintf(pBueffel,255,"ERROR: aborting motor %s after %d retries",
-	     self->name, (int)ObVal(self->ParArray,POSCOUNT));
+	     self->name, self->retryCount);
     SCWrite(pCon,pBueffel,eError);
     return HWFault;
   }
@@ -230,10 +232,16 @@ static int checkPosition(pMotor self, SConnection *pCon)
   self->fPosition = fHard;
   if(absf(fHard - self->fTarget) > ObVal(self->ParArray,PREC))
   {
-     if(SCGetInterrupt(pCon) != eContinue)
+     if (SCGetInterrupt(pCon) != eContinue)
      {
        return HWFault;
      }
+     if(self->stopped)
+     {
+       snprintf(pBueffel,131,"WARNING: %s stopped", self->name);
+       SCWrite(pCon,pBueffel, eWarning);                    
+       return HWFault;
+     }
      snprintf(pBueffel,131,"WARNING: %s off position by %f",
                  self->name, absf(fHard - self->fTarget));
      SCWrite(pCon,pBueffel, eWarning);                    
@@ -248,6 +256,7 @@ static void finishDriving(pMotor self, SConnection *pCon)
   MotCallback sCall;
   MotorGetSoftPosition(self,pCon,&sCall.fVal);
   sCall.pName = self->name;
+  InvokeCallBack(self->pCall, MOTDRIVE, &sCall); /* send also very last position */
   InvokeCallBack(self->pCall, MOTEND, &sCall);
 }
 /*--------------------------------------------------------------------*/
@@ -494,7 +503,8 @@ static void handleMoveCallback(pMotor self, SConnection *pCon)
      }
      return status;
   }
-/*---------------------------------------------------------------------------*/  pMotor MotorInit(char *drivername, char *name, MotorDriver *pDriv)
+/*---------------------------------------------------------------------------*/
+  pMotor MotorInit(char *drivername, char *name, MotorDriver *pDriv)
   {
     pMotor pM =  NULL;
     
@@ -866,6 +876,7 @@ extern void KillPiPiezo(void *pData);
     /* Boundaries OK, send command */
     self->posFaultCount = 0;
     self->retryCount = 0;
+    self->stopped = 0;
     self->fTarget = fHard;
     iRet = self->pDriver->RunTo(self->pDriver,fHard);
     if(iRet != OKOK)
@@ -1392,7 +1403,7 @@ extern MotorDriver *MakePiPiezo(Tcl_Interp *pTcl, char *pArray);
           }
           else
           {
-            sprintf(pBueffel, " %s.%s = %f",self->name,pName->text,fValue);
+            sprintf(pBueffel, "%s.%s = %f",self->name,pName->text,fValue);
             SCWrite(pCon,pBueffel,eValue);
             DeleteTokenList(pList);
             return 1;

motor.h

@@ -29,6 +29,7 @@
                                            motor callback */
                           int retryCount; /* for retries in status */
                           int posFaultCount;
+                          int stopped;
                           } Motor;
    typedef Motor *pMotor;
 /*-------------------------------------------------------------------------*/      

ofac.c

@@ -337,7 +337,7 @@
     RemoveCommand(pSics,"MakeLin2Ang");
     RemoveCommand(pSics,"MakeSync");
     RemoveCommand(pSics,"MakeHMControl");
-    RemoveCommand(pSics,"MakeRS232Controller");
+    /* RemoveCommand(pSics,"MakeRS232Controller"); */
     RemoveCommand(pSics,"MakeMaxDetector");
     RemoveCommand(pSics,"AntiColliderInstall");
     RemoveCommand(pSics,"MakeGPIB");